/*
 * COPYRIGHT AND PERMISSION NOTICE
 * Penn Software MSCKF_VIO
 * Copyright (C) 2017 The Trustees of the University of Pennsylvania
 * All rights reserved.
 */

#include <msckf_vio/image_processor_nodelet.h>

namespace msckf_vio {

void ImageProcessorNodelet::onInit() {
    img_processor_ptr.reset(new ImageProcessor(getPrivateNodeHandle()));
    if (!img_processor_ptr->initialize()) {
        ROS_ERROR("Cannot initialize Image Processor...");
        return;
    }
    return;
}

PLUGINLIB_EXPORT_CLASS(msckf_vio::ImageProcessorNodelet, nodelet::Nodelet);

}  // end namespace msckf_vio
